Behavior-based paradigms are a promising avenue towards creating full-blown integrated autonomous agents. However, until now they have had a major stumbling block: programmers can create robust, subtle, and expressive behaviors, but the agent’s overall behavior gradually falls apart as these behaviors are combined. For small numbers of behaviors, this disintegration can be managed by the programmer, but as more behaviors are combined their interactions become so complex that they become at least time-consuming and at worst impossible to manage.

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